WO2016186219A1 - 建設機械の制御システム、建設機械、及び建設機械の制御方法 - Google Patents

建設機械の制御システム、建設機械、及び建設機械の制御方法 Download PDF

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Publication number
WO2016186219A1
WO2016186219A1 PCT/JP2016/066078 JP2016066078W WO2016186219A1 WO 2016186219 A1 WO2016186219 A1 WO 2016186219A1 JP 2016066078 W JP2016066078 W JP 2016066078W WO 2016186219 A1 WO2016186219 A1 WO 2016186219A1
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WO
WIPO (PCT)
Prior art keywords
bucket
tilt
target
arm
axis
Prior art date
Application number
PCT/JP2016/066078
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
力 岩村
仁 北嶋
吉朗 岩崎
悠人 藤井
貴史 横尾
Original Assignee
株式会社小松製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社小松製作所 filed Critical 株式会社小松製作所
Priority to KR1020177001405A priority Critical patent/KR101839467B1/ko
Priority to JP2016544684A priority patent/JP6099834B1/ja
Priority to DE112016000072.3T priority patent/DE112016000072B4/de
Priority to CN201680001091.8A priority patent/CN106460362B/zh
Priority to US15/326,700 priority patent/US10017913B2/en
Priority to PCT/JP2016/066078 priority patent/WO2016186219A1/ja
Publication of WO2016186219A1 publication Critical patent/WO2016186219A1/ja

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/3604—Devices to connect tools to arms, booms or the like
    • E02F3/3677—Devices to connect tools to arms, booms or the like allowing movement, e.g. rotation or translation, of the tool around or along another axis as the movement implied by the boom or arms, e.g. for tilting buckets
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2033—Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2037—Coordinating the movements of the implement and of the frame
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
    • E02F9/2271—Actuators and supports therefor and protection therefor
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2285—Pilot-operated systems
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/261—Surveying the work-site to be treated
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/261—Surveying the work-site to be treated
    • E02F9/262—Surveying the work-site to be treated with follow-up actions to control the work tool, e.g. controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/16—Cabins, platforms, or the like, for drivers
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
    • E02F9/2267—Valves or distributors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS

Definitions

  • the present invention relates to a construction machine control system, a construction machine, and a construction machine control method.
  • leveling assist control controlling at least one of the boom cylinder, arm cylinder, and bucket cylinder of the work machine so that the bucket moves along the target construction landform.
  • the bucket target speed is determined from the distance between the bucket and the target construction landform, and the bucket is derived based on the determined bucket target speed and at least one of the arm operation amount and the bucket operation amount by the operator.
  • the boom target speed is calculated based on the movement speed of the boom, and the boom cylinder is controlled based on the calculated boom target speed.
  • a construction machine having a tilt type bucket in which the bucket rotates around a tilt axis is known. Even when the tilted target construction landform is constructed with the tilt type bucket, a technique capable of moving the tilt bucket along the inclined target construction landform is desired. However, when the conventional leveling assist control is simply applied to the tilt type bucket, when the target speed of the boom is calculated based on the moving speed of the bucket derived based on the tilt operation amount by the operator, the tilt type bucket is targeted. It may be difficult to move along the construction terrain.
  • An object of an aspect of the present invention is to provide a construction machine control system, a construction machine, and a construction machine control method capable of accurately constructing a target construction landform inclined using a tilt bucket.
  • a boom that is rotatable with respect to a vehicle body about a boom axis, an arm that is rotatable with respect to the boom about an arm axis parallel to the boom axis, and the arm
  • a construction machine control system comprising a working machine including a bucket axis parallel to an axis and a bucket that is rotatable with respect to the arm about a tilt axis orthogonal to the bucket axis, the target shape being excavated
  • the boom shaft, the arm shaft based on the target construction landform generation unit for generating the target construction landform, the distance between the bucket and the target construction landform, and the operating state of at least one of the arm and the bucket
  • a work implement control command determining unit that outputs a command for driving the work implement in a work implement operation plane orthogonal to at least one of the bucket shafts
  • a tilt control command determination unit that outputs a command for tilt control of the bucket around the tilt axis based on a distance between the bucket and the
  • the working machine includes an upper swing body, a lower traveling body that supports the upper swing body, the boom, the arm, and the bucket, and is supported by the upper swing body.
  • a construction machine control system according to a first aspect.
  • a boom that is rotatable with respect to a vehicle body about a boom axis, an arm that is rotatable with respect to the boom about an arm axis parallel to the boom axis, and the arm
  • a construction machine control method comprising a working machine including a bucket axis parallel to an axis and a bucket rotatable about the arm about a tilt axis perpendicular to the bucket axis, the bucket and the excavation target
  • the control method for a construction machine including, and outputting a command to tilt control the bucket about the tilt axis is provided.
  • a construction machine control system capable of accurately constructing a target construction landform tilted using a tilt bucket are provided.
  • FIG. 1 is a perspective view illustrating an example of a construction machine according to the present embodiment.
  • FIG. 2 is a side sectional view showing an example of the bucket according to the present embodiment.
  • FIG. 3 is a front view showing an example of the bucket according to the present embodiment.
  • FIG. 4 is a side view schematically showing the hydraulic excavator according to the present embodiment.
  • FIG. 5 is a rear view schematically showing the hydraulic excavator according to the present embodiment.
  • FIG. 6 is a plan view schematically showing the hydraulic excavator according to the present embodiment.
  • FIG. 7 is a side view schematically showing the bucket according to the present embodiment.
  • FIG. 8 is a front view schematically showing the bucket according to the present embodiment.
  • FIG. 1 is a perspective view illustrating an example of a construction machine according to the present embodiment.
  • FIG. 2 is a side sectional view showing an example of the bucket according to the present embodiment.
  • FIG. 3 is a front view showing an example of the bucket according to the
  • FIG. 9 is a schematic diagram illustrating an example of a hydraulic system according to the present embodiment.
  • FIG. 10 is a schematic diagram illustrating an example of a hydraulic system according to the present embodiment.
  • FIG. 11 is a schematic diagram illustrating an example of a hydraulic system according to the present embodiment.
  • FIG. 12 is a functional block diagram illustrating an example of a control system according to the present embodiment.
  • FIG. 13 is a diagram schematically illustrating an example of the specified points set in the bucket according to the present embodiment.
  • FIG. 14 is a schematic diagram illustrating an example of target construction data according to the present embodiment.
  • FIG. 15 is a schematic diagram illustrating an example of the target construction landform according to the present embodiment.
  • FIG. 16 is a schematic diagram illustrating an example of a tilt operation plane according to the present embodiment.
  • FIG. 17 is a schematic diagram for explaining an example of a control method of the hydraulic excavator according to the present embodiment.
  • FIG. 18 is a diagram illustrating an example of the relationship between the vertical distance and the target speed according to the present embodiment.
  • FIG. 19 is a diagram illustrating an example of the relationship between the operating distance and the speed limit according to the present embodiment.
  • FIG. 20 is a diagram illustrating an example of the relationship between the operating distance and the speed limit according to the present embodiment.
  • FIG. 21 is a flowchart illustrating an example of a method for controlling the hydraulic excavator according to the present embodiment.
  • FIG. 22 is a schematic diagram for explaining the operation of the bucket according to the present embodiment.
  • FIG. 23 is a schematic diagram for explaining the operation of the bucket according to the present embodiment.
  • FIG. 24 is a schematic diagram for explaining an example of the control method of the hydraulic excavator according to the present embodiment.
  • the global coordinate system is a coordinate system indicating an absolute position defined by a global navigation satellite system (GNSS) such as a global positioning system (GPS).
  • GNSS global navigation satellite system
  • GPS global positioning system
  • the local coordinate system is a coordinate system that indicates a relative position with respect to a reference position of the construction machine.
  • FIG. 1 is a perspective view showing an example of a construction machine 100 according to the present embodiment.
  • the construction machine 100 is a hydraulic excavator will be described.
  • the construction machine 100 is appropriately referred to as a hydraulic excavator 100.
  • a hydraulic excavator 100 includes a working machine 1 that is operated by hydraulic pressure, an upper swing body 2 that is a vehicle body that supports the work machine 1, and a lower traveling body that is a traveling device that supports the upper swing body 2. 3, an operating device 30 for operating the work machine 1, and a control device 50 for controlling the work machine 1.
  • the upper swing body 2 can swing around the swing axis RX while being supported by the lower traveling body 3.
  • the upper swing body 2 has a cab 4 in which an operator is boarded, and a machine room 5 in which an engine and a hydraulic pump are accommodated.
  • the cab 4 has a driver's seat 4S on which an operator is seated.
  • the machine room 5 is disposed behind the cab 4.
  • the lower traveling body 3 has a pair of crawler belts 3C.
  • the excavator 100 travels by the rotation of the crawler belt 3C.
  • the lower traveling body 3 may have a tire.
  • the work machine 1 is supported by the upper swing body 2.
  • the work machine 1 includes a boom 6 connected to the upper swing body 2 via a boom pin, an arm 7 connected to the boom 6 via an arm pin, and a bucket 8 connected to the arm 7 via a bucket pin and a tilt pin. And have.
  • the bucket 8 has a cutting edge 9.
  • the blade edge 9 of the bucket 8 is the tip of a straight blade provided on the bucket 8.
  • the blade edge 9 of the bucket 8 may be a tip of a convex blade provided on the bucket 8.
  • the boom 6 can be rotated with respect to the upper swing body 2 around a boom axis AX1 which is a rotation axis.
  • the arm 7 is rotatable with respect to the boom 6 around an arm axis AX2 that is a rotation axis.
  • the bucket 8 is rotatable with respect to the arm 7 around a bucket axis AX3 that is a rotation axis and a tilt axis AX4 that is a rotation axis orthogonal to the bucket axis AX3.
  • the rotation axis AX1, the rotation axis AX2, and the rotation axis AX3 are parallel to each other.
  • the rotation axes AX1, AX2, AX3 and the axis parallel to the turning axis RX are orthogonal to each other.
  • the rotation axes AX1, AX2, and AX3 are parallel to the Y axis of the local coordinate system.
  • the pivot axis RX is parallel to the Z axis of the local coordinate system.
  • the direction parallel to the rotation axes AX1, AX2, AX3 indicates the vehicle width direction of the upper swing body 2.
  • the direction parallel to the turning axis RX indicates the vertical direction of the upper turning body 2.
  • the direction orthogonal to both the rotation axes AX1, AX2, AX3 and the turning axis RX indicates the front-rear direction of the upper turning body 2.
  • the direction in which the work implement 1 is present is based on the operator seated on the driver's seat 4S.
  • the work machine 1 is operated by the power generated by the hydraulic cylinder 10.
  • the hydraulic cylinder 10 includes a boom cylinder 11 that operates the boom 6, an arm cylinder 12 that operates the arm 7, and a bucket cylinder 13 and a tilt cylinder 14 that operate the bucket 8.
  • the work machine 1 includes a boom stroke sensor 16 that detects a boom stroke that indicates the drive amount of the boom cylinder 11, an arm stroke sensor 17 that detects an arm stroke that indicates the drive amount of the arm cylinder 12, and the drive of the bucket cylinder 13.
  • a bucket stroke sensor 18 that detects a bucket stroke indicating the amount and a tilt stroke sensor 19 that detects a tilt stroke indicating the drive amount of the tilt cylinder 14 are provided.
  • the boom stroke sensor 16 is disposed in the boom cylinder 11.
  • the arm stroke sensor 17 is disposed in the arm cylinder 12.
  • the bucket stroke sensor 18 is disposed in the bucket cylinder 13.
  • the tilt stroke sensor 19 is disposed on the tilt cylinder 14.
  • the operating device 30 is arranged in the cab 4.
  • the operation device 30 includes an operation member that is operated by an operator of the excavator 100.
  • the operator operates the operating device 30 to activate the work machine 1.
  • the operation device 30 includes a right work machine operation lever 30R, a left work machine operation lever 30L, a tilt operation lever 30T, and an operation pedal 30F.
  • the relationship between the operation direction of the right work machine operation lever 30R and the left work machine operation lever 30L, the operation direction of the work machine 1, and the turning direction of the upper swing body 2 may not be the above-described relation.
  • the control device 50 includes a computer system.
  • the control device 50 includes a processor such as a CPU (Central Processing Unit), a non-volatile memory such as a ROM (Read Only Memory) and a volatile memory such as a RAM (Random Access Memory), and an input / output And an interface device.
  • a processor such as a CPU (Central Processing Unit)
  • a non-volatile memory such as a ROM (Read Only Memory)
  • a volatile memory such as a RAM (Random Access Memory)
  • FIG. 2 is a side sectional view showing an example of the bucket 8 according to the present embodiment.
  • FIG. 3 is a front view showing an example of the bucket 8 according to the present embodiment.
  • the bucket 8 is a tilt type bucket.
  • the work machine 1 has a bucket 8 that can rotate with respect to the arm 7 around a bucket axis AX3 and a tilt axis AX4 orthogonal to the bucket axis AX3.
  • Bucket 8 is rotatably connected to arm 7 via bucket pin 8B.
  • the bucket 8 is rotatably supported by the arm 7 via a tilt pin 8T.
  • the bucket 8 is connected to the tip of the arm 7 via the connection member 90.
  • the bucket pin 8 ⁇ / b> B connects the arm 7 and the connection member 90.
  • the tilt pin 8T connects the connecting member 90 and the bucket 8 together.
  • the bucket 8 is rotatably connected to the arm 7 via a connection member 90.
  • the bucket 8 includes a bottom plate 81, a back plate 82, an upper plate 83, a side plate 84, and a side plate 85.
  • the bucket 8 has a bracket 87 provided on the upper portion of the upper plate 83.
  • the bracket 87 is installed at the front and rear positions of the upper plate 83.
  • the bracket 87 is coupled to the connection member 90 and the tilt pin 8T.
  • the connecting member 90 includes a plate member 91, a bracket 92 provided on the upper surface of the plate member 91, and a bracket 93 provided on the lower surface of the plate member 91.
  • the bracket 92 is connected to the arm 7 and the second link pin 95P.
  • the bracket 93 is installed on the upper portion of the bracket 87 and connected to the tilt pin 8T and the bracket 87.
  • the bucket pin 8B connects the bracket 92 of the connection member 90 and the tip of the arm 7 together.
  • the tilt pin 8T connects the bracket 93 of the connection member 90 and the bracket 87 of the bucket 8 together.
  • the connecting member 90 and the bucket 8 are rotatable about the bucket axis AX3 with respect to the arm 7.
  • the bucket 8 is rotatable about the tilt axis AX4 with respect to the connection member 90.
  • the work machine 1 includes a first link member 94 that is rotatably connected to the arm 7 via the first link pin 94P, and a second link member that is rotatably connected to the bracket 92 via the second link pin 95P. 95.
  • the base end portion of the first link member 94 is connected to the arm 7 via the first link pin 94P.
  • the base end portion of the second link member 95 is connected to the bracket 92 via the second link pin 95P.
  • the distal end portion of the first link member 94 and the distal end portion of the second link member 95 are connected via a bucket cylinder top pin 96.
  • the tip of the bucket cylinder 13 is rotatably connected to the tip of the first link member 94 and the tip of the second link member 95 via the bucket cylinder top pin 96.
  • the connecting member 90 rotates about the bucket axis AX3 together with the bucket 8.
  • the tilt cylinder 14 is connected to each of a bracket 97 provided on the connection member 90 and a bracket 88 provided on the bucket 8.
  • the rod of the tilt cylinder 14 is connected to the bracket 97 via a pin.
  • the main body of the tilt cylinder 14 is connected to the bracket 88 via a pin.
  • the bucket 8 rotates around the bucket axis AX3 by the operation of the bucket cylinder 13.
  • the bucket 8 rotates around the tilt axis AX4 by the operation of the tilt cylinder 14.
  • the tilt pin 8T rotates together with the bucket 8.
  • FIG. 4 is a side view schematically showing the excavator 100 according to the present embodiment.
  • FIG. 5 is a rear view schematically showing the excavator 100 according to the present embodiment.
  • FIG. 6 is a plan view schematically showing the excavator 100 according to the present embodiment.
  • FIG. 7 is a side view schematically showing the bucket 8 according to the present embodiment.
  • FIG. 8 is a front view schematically showing the bucket 8 according to the present embodiment.
  • the detection system 400 includes a position calculation device 20 that calculates the position of the upper swing body 2, and a work machine angle calculation device 24 that calculates the angle of the work machine 1. Have.
  • the position calculator 20 includes a vehicle body position calculator 21 that detects the position of the upper swing body 2, an attitude calculator 22 that detects the attitude of the upper swing body 2, and an orientation calculator 23 that detects the orientation of the upper swing body 2. Including.
  • the vehicle body position calculator 21 includes a GPS receiver.
  • the vehicle body position calculator 21 is provided on the upper swing body 2.
  • the vehicle body position calculator 21 detects the absolute position Pg of the upper swing body 2 defined by the global coordinate system.
  • the absolute position Pg of the upper swing body 2 includes coordinate data in the Xg axis direction, coordinate data in the Yg axis direction, and coordinate data in the Zg axis direction.
  • a plurality of GPS antennas 21 ⁇ / b> A are provided on the upper swing body 2.
  • the GPS antenna 21 ⁇ / b> A receives a radio wave from a GPS satellite and outputs a signal generated based on the received radio wave to the vehicle body position calculator 21.
  • the vehicle body position calculator 21 detects the position Pr where the GPS antenna 21A defined by the global coordinate system is installed based on the signal supplied from the GPS antenna 21A.
  • the vehicle body position calculator 21 detects the absolute position Pg of the upper swing body 2 based on the position Pr where the GPS antenna 21A is installed.
  • the vehicle body position calculator 21 detects a position Pra where one GPS antenna 21A is installed and a position Prb where the other GPS antenna 21A is installed.
  • the vehicle body position calculator 21A performs an arithmetic process based on at least one of the position Pra and the position Prb, and calculates the absolute position Pg of the upper swing body 2.
  • the absolute position Pg of the upper swing body 2 is the position Pra.
  • the absolute position Pg of the upper swing body 2 may be the position Prb or a position between the position Pra and the position Prb.
  • the attitude calculator 22 includes an inertial measurement unit (Inertial Measurement Unit: IMU).
  • IMU Inertial Measurement Unit
  • the posture calculator 22 is provided in the upper swing body 2.
  • the posture calculator 22 calculates an inclination angle of the upper swing body 2 with respect to a horizontal plane (XgYg plane) defined by the global coordinate system.
  • the tilt angle of the upper swing body 2 with respect to the horizontal plane includes a roll angle ⁇ 1 that indicates the tilt angle of the upper swing body 2 in the vehicle width direction and a pitch angle ⁇ 2 that indicates the tilt angle of the upper swing body 2 in the front-rear direction.
  • the azimuth calculator 23 is based on the position Pra where one GPS antenna 21A is installed and the position Prb where the other GPS antenna 21A is installed. Is calculated.
  • the reference orientation is, for example, north.
  • the azimuth calculator 23 performs a calculation process based on the position Pra and the position Prb, and calculates the azimuth of the upper swing body 2 with respect to the reference azimuth.
  • the azimuth calculator 23 calculates a straight line connecting the position Pra and the position Prb, and calculates the azimuth of the upper swing body 2 with respect to the reference azimuth based on the angle formed by the calculated straight line and the reference azimuth.
  • the azimuth of the upper swing body 2 with respect to the reference azimuth includes a yaw angle ⁇ 3 indicating an angle formed by the reference azimuth and the azimuth of the upper swing body 2.
  • the work machine angle calculation device 24 indicates the tilt angle of the boom 6 with respect to the Z axis of the local coordinate system based on the boom stroke detected by the boom stroke sensor 16.
  • the boom angle ⁇ is calculated.
  • the work machine angle calculation device 24 calculates an arm angle ⁇ indicating an inclination angle of the arm 7 with respect to the boom 6.
  • the work machine angle calculation device 24 calculates a bucket angle ⁇ indicating the inclination angle of the blade edge 9 of the bucket 8 with respect to the arm 7 based on the bucket stroke detected by the bucket stroke sensor 18.
  • the work machine angle calculation device 24 calculates a tilt angle ⁇ indicating the tilt angle of the bucket 8 with respect to the XY plane.
  • the work machine angle calculation device 24 is configured to tilt the axis relative to the XY plane based on the boom stroke detected by the boom stroke sensor 16, the arm stroke detected by the arm stroke sensor 17, and the tilt stroke detected by the bucket stroke sensor 18.
  • a tilt axis angle ⁇ indicating the tilt angle of AX4 is calculated.
  • the boom angle ⁇ , the arm angle ⁇ , the bucket angle ⁇ , the tilt angle ⁇ , and the tilt axis angle ⁇ may be detected by, for example, an angle sensor provided in the work implement 10 without using the stroke sensor. Further, the angle of the work machine 10 is optically detected by a stereo camera or a laser scanner, and the boom angle ⁇ , arm angle ⁇ , bucket angle ⁇ , tilt angle ⁇ , and tilt axis angle ⁇ are calculated using the detection results. May be.
  • FIGS. 9, 10 and 11 are schematic views showing an example of a hydraulic system 300 according to the present embodiment.
  • the hydraulic cylinder 10 including the boom cylinder 11, the arm cylinder 12, the bucket cylinder 13, and the tilt cylinder 14 is driven by a hydraulic system 300.
  • the hydraulic system 300 supplies hydraulic oil to the hydraulic cylinder 10 to drive the hydraulic cylinder 10.
  • the hydraulic system 300 has a flow control valve 25.
  • the flow control valve 25 controls the amount of hydraulic oil supplied to the hydraulic cylinder 10 and the direction in which the hydraulic oil flows.
  • the hydraulic cylinder 10 has a cap side oil chamber 10A and a rod side oil chamber 10B.
  • the cap side oil chamber 10A is a space between the cylinder head cover and the piston.
  • the rod side oil chamber 10B is a space in which the piston rod is disposed.
  • FIG. 9 is a schematic diagram showing an example of a hydraulic system 300 that operates the arm cylinder 12.
  • the hydraulic system 300 is disposed in a variable displacement main hydraulic pump 31 that supplies hydraulic oil, a pilot pressure pump 32 that supplies pilot oil, oil passages 33A and 33B through which pilot oil flows, and oil passages 33A and 33B.
  • right work machine operation lever 30R and left work machine operation lever 30L for adjusting the pilot pressure for the flow rate control valve 25.
  • Including an operating device 30 and a control device 50 The right working machine operating lever 30R and the left working machine operating lever 30L of the operating device 30 are pilot hydraulic operating devices.
  • the hydraulic oil supplied from the main hydraulic pump 31 is supplied to the arm cylinder 12 via the direction control valve 25.
  • the flow rate control valve 25 is a slide spool type flow rate control valve that switches a direction in which hydraulic oil flows by moving a rod-shaped spool in the axial direction. As the spool moves in the axial direction, the supply of hydraulic oil to the cap-side oil chamber 10A of the arm cylinder 12 and the supply of hydraulic oil to the rod-side oil chamber 10B are switched. Further, the amount of hydraulic oil supplied per unit time to the arm cylinder 12 is adjusted by moving the spool in the axial direction. The cylinder speed is adjusted by adjusting the amount of hydraulic oil supplied to the arm cylinder 12.
  • the flow control valve 25 is operated by the operating device 30. Pilot oil sent from the pilot pressure pump 32 is supplied to the operating device 30. Pilot oil sent from the main hydraulic pump 31 and decompressed by the pressure reducing valve may be supplied to the operating device 30.
  • the operating device 30 includes a pilot pressure adjustment valve. Based on the operation amount of the operating device 30, the control valves 37A and 37B are operated, and the pilot pressure acting on the spool of the flow control valve 25 is adjusted. The flow control valve 25 is driven by the pilot pressure. By adjusting the pilot pressure by the operating device 30, the moving amount, moving speed, and moving direction of the spool in the axial direction are adjusted.
  • the flow control valve 25 has a first pressure receiving chamber and a second pressure receiving chamber.
  • the left work implement operation lever 30L When the left work implement operation lever 30L is operated to tilt to one side from the neutral position and the spool moves due to the pilot pressure in the oil passage 33A, the hydraulic oil from the main hydraulic pump 31 is supplied to the first pressure receiving chamber, The hydraulic oil is supplied to the cap side oil chamber 10A through the path 35A.
  • the left work implement operating lever 30L is operated so as to tilt from the neutral position to the other side and the spool is moved by the pilot pressure in the oil passage 33B, the hydraulic oil from the main hydraulic pump 31 is supplied to the second pressure receiving chamber, The hydraulic oil is supplied to the rod side oil chamber 10B through the path 35B.
  • the pressure sensor 34A detects the pilot pressure in the oil passage 33A.
  • the pressure sensor 34B detects the pilot pressure in the oil passage 33B. Detection signals from the pressure sensors 33A and 33B are output to the control device 50.
  • the control device 50 outputs a control signal to the control valves 37A and 37B to adjust the pilot pressure.
  • the hydraulic system 300 that operates the bucket cylinder 13 has the same configuration as the hydraulic system 300 that operates the arm cylinder 12.
  • the bucket cylinder 13 When hydraulic oil is supplied to the cap-side oil chamber 10A of the bucket cylinder 13, the bucket cylinder 13 is extended and the bucket 8 is excavated.
  • the bucket cylinder 13 contracts and the bucket 8 performs a dumping operation.
  • the right work machine operation lever 30R and the left work machine operation lever 30L of the operation device 30 may not be of a pilot hydraulic system.
  • the right work machine operation lever 30R and the left work machine operation lever 30L output an electrical signal to the control device 50 based on the operation amount (tilt angle) of the right work machine operation lever 30R and the left work machine operation lever 30L, and control them.
  • An electronic lever system that directly controls the flow control valve 25 based on a control signal of the device 50 may be used.
  • FIG. 10 is a diagram schematically illustrating an example of a hydraulic system 300 that operates the boom cylinder 11.
  • the hydraulic system 300 includes a flow control valve 25 that adjusts the amount of hydraulic oil supplied to the boom cylinder 11, an oil passage 33A, 33B, 33C through which pilot oil flows, and a control valve 39A that is disposed in the oil passages 33A, 33B, 33C. , 39B, 39C, pressure sensors 34A, 34B disposed in the oil passages 33A, 33B, and a control device 50 for controlling the control valves 39A, 39B, 39C.
  • Control valves 39A, 39B, and 39C are electromagnetic proportional control valves.
  • the control valves 39A, 39B, 39C adjust the pilot pressure based on the control signal from the control device 50.
  • the control valve 39A adjusts the pilot pressure in the oil passage 33A.
  • the control valve 39B adjusts the pilot pressure in the oil passage 33B.
  • the control valve 39C adjusts the pilot pressure in the oil passage 33C.
  • the control device 50 can control the control valve 39B to reduce the pilot pressure acting on the first pressure receiving chamber of the flow control valve 25.
  • the control device 50 can control the control valve 39A to reduce the pilot pressure acting on the second pressure receiving chamber of the flow control valve 25.
  • the control device 50 controls the control valve 39A based on the detection signal of the pressure sensor 34A.
  • the control device 50 controls the control valve 39B based on the detection signal of the pressure sensor 34B.
  • the control device 50 outputs a control signal to the control valves 39A and 39B to adjust the pilot pressure.
  • the boom cylinder 11 is controlled by adjusting the pilot pressure.
  • control valve 39C operates based on a control signal output from the control device 50 for leveling assist control.
  • the pilot oil sent from the pilot pressure pump 32 flows through the oil passage 33C provided with the control valve 39C.
  • the oil passage 33C and the oil passage 33A are connected to the shuttle valve 40.
  • the shuttle valve 40 supplies the flow rate control valve 25 with the pilot oil of the oil passage having the higher pilot pressure out of the oil passage 33A and the oil passage 33C.
  • the flow control valve 25 is driven based on the pilot pressure adjusted by the operation of the left work machine operation lever 30L.
  • the control device 50 controls the control valves 39A, 39B, and 39C so that the flow control valve 25 is driven based on the pilot pressure adjusted by the control valve 39C.
  • FIG. 11 is a diagram schematically illustrating an example of a hydraulic system 300 that operates the tilt cylinder 14.
  • the hydraulic system 300 includes a flow control valve 25 that adjusts the amount of hydraulic oil supplied to the tilt cylinder 14, control valves 37A and 37B that adjust pilot pressure acting on the flow control valve 25, a pilot pressure pump 32, and an operation pedal 30F.
  • the operation pedal 30F of the operation device 30 is a pilot hydraulic operation device.
  • the tilt operation lever 30T of the operation device 30 is an electronic lever type operation device.
  • the tilt operation lever 30T includes operation buttons provided on the right work machine operation lever 30R and the left work machine operation lever 30L.
  • the operating pedal 30F of the operating device 30 is connected to the pilot pressure pump 32.
  • the operation pedal 30F is connected to an oil passage 38A through which pilot oil sent from the control valve 37A flows through a shuttle valve 36A.
  • the operation pedal 30F is connected to an oil passage 38B through which pilot oil sent from the control valve 37B flows through a shuttle valve 36B.
  • an operation signal generated by the operation of the tilt operation lever 30T is output to the control device 50.
  • the control device 50 generates a control signal based on the operation signal output from the tilt operation lever 30T, and controls the control valves 37A and 37B.
  • the control valves 37A and 37B are electromagnetic proportional control valves.
  • the control valve 37A opens and closes the oil passage 38A based on the control signal.
  • the control valve 37B opens and closes the oil passage 38B based on the control signal.
  • the pilot pressure is adjusted based on the operation amount of the operation device 30.
  • the control device 50 outputs a control signal to the control valves 37A and 37B to adjust the pilot pressure.
  • FIG. 12 is a functional block diagram illustrating an example of the control system 200 according to the present embodiment.
  • the control system 200 includes a control device 50 that controls the work implement 1, a position calculation device 20, a work implement angle calculation device 24, a control valve 37 (37A, 37B), and a control valve 39. (39A, 39B, 39C) and a target construction data generation device 70 are provided.
  • the position calculation device 20 detects the absolute position Pg of the upper swing body 2, the posture of the upper swing body 2 including the roll angle ⁇ 1 and the pitch angle ⁇ 2, and the orientation of the upper swing body 2 including the yaw angle ⁇ 3.
  • the position calculation device 20 includes a vehicle body position calculator 21, an attitude calculator 22, and an azimuth calculator 23.
  • the position calculation device 20 detects the absolute position Pg of the upper swing body 2, the posture of the upper swing body 2 including the roll angle ⁇ 1 and the pitch angle ⁇ 2, and the orientation of the upper swing body 2 including the yaw angle ⁇ 3.
  • the work machine angle calculation device 24 detects angles of the work machine 1 including the boom angle ⁇ , the arm angle ⁇ , the bucket angle ⁇ , the tilt angle ⁇ , and the tilt axis angle ⁇ .
  • the control valve 37 (37A, 37B) adjusts the amount of hydraulic oil supplied to the tilt cylinder 14.
  • the control valve 37 operates based on a control signal from the control device 50.
  • the control valve 39 (39A, 39B, 39C) adjusts the amount of hydraulic oil supplied to the boom cylinder 11.
  • the control valve 39 operates based on a control signal from the control device 50.
  • the target construction data generation device 70 includes a computer system.
  • the target construction data generation device 70 generates target construction data indicating the target topography that is the target shape of the construction area.
  • the target construction data indicates a three-dimensional target shape obtained after construction by the work machine 1.
  • the target construction data generation device 70 is provided at a remote location of the excavator 100.
  • the target construction data generation device 70 is installed in equipment of a construction management company, for example.
  • the target construction data generation device 70 and the control device 50 can communicate wirelessly.
  • the target construction data generated by the target construction data generation device 70 is transmitted to the control device 50 wirelessly.
  • the target construction data generation device 70 and the control device 50 may be connected by wire, and the target construction data may be transmitted from the target construction data generation device 70 to the control device 50.
  • the target construction data generation device 70 may include a recording medium that stores the target construction data
  • the control device 50 may include a device that can read the target construction data from the recording medium.
  • the target construction data generation device 70 may be provided in the excavator 100.
  • the target construction data may be supplied to the target construction data generation device 70 of the excavator 100 by wire or wireless from an external management device that manages the construction, and the target construction data supplied by the target construction data generation device 70 may be stored. .
  • the control device 50 includes a vehicle body position data acquisition unit 51, a work implement angle data acquisition unit 52, a specified point position data calculation unit 53A, a candidate specified point data calculation unit 53B, a target construction landform generation unit 54, a work implement.
  • Motion plane calculation unit 55, tilt motion plane calculation unit 56, tilt target landform calculation unit 57, work implement target speed determination unit 58, tilt target speed determination unit 59, work implement control command determination unit 60, tilt A control command determination unit 61, a storage unit 62, and an input / output unit 63 are included.
  • the functions of the unit 56, the tilt target landform calculating unit 57, the work implement target speed determining unit 58, the tilt target speed determining unit 59, the work implement control command determining unit 60, and the tilt control command determining unit 61 are the functions of the control device 50. Demonstrated by the processor.
  • the function of the storage unit 62 is exhibited by the storage device of the control device 50.
  • the function of the input / output unit 63 is exhibited by the input / output interface device of the control device 50.
  • the input / output unit 63 is connected to the position calculation device 20, the work machine angle calculation device 24, the control valve 37, the control valve 39, and the target construction data generation device 70, and the vehicle body position data acquisition unit 51, the work machine angle data acquisition unit. 52, a specified point position data calculation unit 53A, a candidate specified point data calculation unit 53B, a target construction landform generation unit 54, a work implement operation plane calculation unit 55, a tilt operation plane calculation unit 56, a tilt target landform calculation unit 57, a work implement target. Data communication is performed among the speed determination unit 58, the tilt target speed determination unit 59, the work implement control command determination unit 60, the tilt control command determination unit 61, and the storage unit 62.
  • the storage unit 62 stores specification data of the excavator 100 including work implement data.
  • the vehicle body position data acquisition unit 51 acquires vehicle body position data from the position calculation device 20 via the input / output unit 63.
  • the vehicle body position data includes the absolute position Pg of the upper swing body 2 defined by the global coordinate system, the attitude of the upper swing body 2 including the roll angle ⁇ 1 and the pitch angle ⁇ 2, and the orientation of the upper swing body 2 including the yaw angle ⁇ 3. Including.
  • the work machine angle data acquisition unit 52 acquires the work machine angle data from the work machine angle calculation device 24 via the input / output unit 63.
  • the work machine angle data detects angles of the work machine 1 including a boom angle ⁇ , an arm angle ⁇ , a bucket angle ⁇ , a tilt angle ⁇ , and a tilt axis angle ⁇ .
  • the specified point position data calculation unit 53A calculates the position data of the specified point RP set in the bucket 8 based on the target construction landform, the width data of the bucket 8, and the outer surface data of the bucket 8.
  • the specified point position data calculation unit 53 includes vehicle body position data acquired by the vehicle body position data acquisition unit 51, work machine angle data acquired by the work machine angle data acquisition unit 52, and work stored in the storage unit 59. Based on the machine data, the position data of the specified point RP set in the bucket 8 is calculated.
  • the work implement data includes a boom length L1, an arm length L2, a bucket length L3, a tilt length L4, and a bucket width L5.
  • the boom length L1 is a distance between the boom axis AX1 and the arm axis AX2.
  • the arm length L2 is a distance between the arm axis AX2 and the bucket axis AX3.
  • Bucket length L3 is the distance between bucket axis AX3 and blade edge 9 of bucket 8.
  • the tilt length L4 is a distance between the bucket axis AX3 and the tilt axis AX4.
  • the bucket width L5 is a distance between the side plate 84 and the side plate 85.
  • FIG. 13 is a diagram schematically illustrating an example of the specified point RP set in the bucket 8 according to the present embodiment.
  • a plurality of candidate specified points RPc that are candidates for the specified points RP used for tilt control are set in the bucket 8.
  • the candidate specified point RPc is set on the blade edge 9 of the bucket 8 and the outer surface of the bucket 8.
  • a plurality of candidate specified points RPc are set in the bucket width direction at the blade edge 9.
  • a plurality of candidate specified points RPc are set on the outer surface of the bucket 8.
  • the work machine data includes bucket outer shape data indicating the shape and dimensions of the bucket 8.
  • the bucket outer shape data includes the width data of the bucket 8 indicating the bucket width L5. Further, the bucket outer shape data includes outer surface data of the bucket 8 including contour data of the outer surface of the bucket 8. Further, the bucket outer shape data includes coordinate data of a plurality of candidate specified points RPc of the bucket 8 with the cutting edge 9 of the bucket 8 as a reference.
  • the candidate specified point data calculation unit 53B calculates position data of a plurality of candidate specified points RPc that are candidates for the specified point RP.
  • the candidate specified point data calculation unit 53B calculates the relative position of each of the plurality of candidate specified points RPc with respect to the reference position P0 of the upper swing body 2. Further, the specified point position data calculation unit 53 calculates the absolute position of each of the plurality of candidate specified points RPc.
  • Candidate specified point data calculation unit 53B includes work implement data including boom length L1, arm length L2, bucket length L3, tilt length L4, and bucket outer shape data, boom angle ⁇ , arm angle ⁇ , bucket angle. Based on the work machine angle data including ⁇ , tilt angle ⁇ , and tilt axis angle ⁇ , the relative position of each of the plurality of candidate specified points RPc of the bucket 8 with respect to the reference position P0 of the upper swing body 2 can be calculated. As shown in FIG. 4, the reference position P ⁇ b> 0 of the upper swing body 2 is set to the swing axis RX of the upper swing body 2. The reference position P0 of the upper swing body 2 may be set to the boom axis AX1.
  • the candidate specified point data calculation unit 53 ⁇ / b> B is based on the absolute position Pg of the upper swing body 2 detected by the position calculation device 20 and the relative position between the reference position P ⁇ b> 0 of the upper swing body 2 and the bucket 8.
  • the absolute position Pa of 8 can be calculated.
  • the relative position between the absolute position Pg and the reference position P0 is known data derived from the specification data of the excavator 100.
  • the candidate specified point data calculation unit 53B includes vehicle body position data including the absolute position Pg of the upper swing body 2, the relative position between the reference position P0 of the upper swing body 2 and the bucket 8, work implement data, and work implement angle data. Based on the above, the absolute position of each of the plurality of candidate specified points RPc of the bucket 8 can be calculated.
  • the candidate specified point RPc is not limited to a point as long as the width data of the bucket 8 and the outer surface data of the bucket 8 are included.
  • the target construction landform generation unit 54 generates the target construction landform CS indicating the target shape of the excavation target based on the target construction data supplied from the target construction data generation device 70 and stored in the storage unit 62.
  • the target construction data generation device 70 may supply the target construction topography generation unit 54 with the three-dimensional target topography data as the target construction data, or a plurality of line data or a plurality of point data indicating a part of the target shape. You may supply to the target construction topography production
  • the target construction data generation device 70 supplies line data indicating a part of the target shape to the target construction topography generation unit 54 as the target construction data.
  • FIG. 14 is a schematic diagram showing an example of the target construction data CD according to the present embodiment.
  • the target construction data CD indicates the target topography of the construction area.
  • the target landform includes a plurality of target construction landforms CS each represented by a triangular polygon.
  • Each of the plurality of target construction terrain CS indicates a target shape to be excavated by the work machine 1.
  • a point AP that is closest to the bucket 8 in the target construction topography CS is defined.
  • a work machine operation plane WP that passes through the point AP and the bucket 8 and is orthogonal to the bucket axis AX3 is defined.
  • the work machine operation plane WP is an operation plane in which the blade edge 9 of the bucket 8 is moved by at least one operation of the boom cylinder 11, the arm cylinder 12, and the bucket cylinder 13, and is parallel to the XZ plane.
  • the specified point position data calculation unit 53A calculates the position data of the specified point RP whose vertical distance is specified closest to the point AP of the target construction landform CS based on the target construction landform CS and the outer shape data of the bucket 8. To do.
  • the target construction landform generation unit 54 acquires a line LX that is an intersection line between the work machine operation plane WP and the target construction landform CS. In addition, the target construction landform generation unit 54 acquires a line LY that passes through the point AP and intersects the line LX in the target construction landform CS.
  • a line LY indicates a line of intersection between the lateral motion plane and the target construction landform CS.
  • the lateral movement plane is a plane that is orthogonal to the work machine operation plane WP and passes through the point AP.
  • the line LY extends in the lateral direction of the bucket 8 in the target construction landform CS.
  • FIG. 15 is a schematic diagram illustrating an example of the target construction landform CS according to the present embodiment.
  • the target construction landform generation unit 54 acquires the line LX and the line LY, and generates a target construction landform CS indicating the target shape of the excavation target based on the lines LX and LY.
  • the control device 50 moves the bucket 8 along a line LX that is an intersection line between the work machine operation plane WP passing through the bucket 8 and the target construction landform CS.
  • the work machine operation plane calculation unit 55 passes through the bucket 8 as described with reference to FIGS. 14 and 15 based on the vehicle body position data and the work machine angle data, and the boom axis AX1, the arm axis AX2, and the bucket.
  • a work machine operation plane WP orthogonal to at least one of AX3 is calculated.
  • the tilt motion plane calculation unit 56 calculates a tilt motion plane TP that passes through the bucket 8 and is orthogonal to the tilt axis AX4.
  • FIG. 16 is a schematic diagram showing an example of the tilt operation plane TP according to the present embodiment.
  • FIG. 16 shows a tilt operation plane TP when the tilt axis AX4 is not parallel to the target construction landform CS.
  • the tilt operation plane TP refers to an operation plane that passes through the specified point RP set in the bucket 8 and is orthogonal to the tilt axis AX4.
  • FIG. 16 shows a tilting operation plane TP passing through a specified point RP set on the blade edge 9.
  • the tilt operation plane TP is an operation plane in which the specified point RP (blade edge 9) of the bucket 8 is moved by the operation of the tilt cylinder 14.
  • the tilt of the tilt operation plane TP also changes.
  • the work machine angle calculation device 24 can calculate the tilt axis angle ⁇ indicating the tilt angle of the tilt axis AX4 with respect to the XY plane.
  • the tilt axis angle ⁇ is acquired by the work machine angle data acquisition unit 52.
  • the position data of the specified point RP is calculated by the specified point position data calculating unit 53A.
  • the tilt motion plane calculating unit 56 is based on the tilt axis angle ⁇ of the tilt axis AX4 acquired by the work implement angle data acquiring unit 52 and the position of the specified point RP calculated by the specified point position data calculating unit 53A.
  • the tilt operation plane TP can be calculated.
  • the operation distance Da indicating the distance between the specified point RP of the bucket 8 and the tilt target landform ST is calculated. Details will be described later.
  • the tilt target landform calculation unit 57 calculates the tilt target landform ST where the target construction landform CS and the tilt operation plane TP intersect. As shown in FIG. 16, the tilt target landform ST is represented by an intersection line between the target construction landform CS and the tilt operation plane T. When the tilt axis angle ⁇ , which is the direction of the tilt axis AX4, changes, the position of the tilt target landform ST changes.
  • the work machine target speed determining unit 58 determines the target speed Vb of the boom 6 when performing leveling assist control based on the distance between the bucket 8 and the target construction landform CS.
  • the work implement target speed determination unit 58 is configured to perform a boom on the work implement operation plane WP (YZ plane) based on the vertical distance Db that is the shortest distance between the bucket 8 and the line LX in the normal direction of the line LX. 6 target speed Vb is determined.
  • FIG. 17 is a schematic diagram for explaining tilt stop control which is an example of leveling assist control and tilt control according to the present embodiment.
  • control based on the specified point RPb is performed with respect to leveling assistance, and the specified point in the case of performing tilt stop control is distinguished as the specified point RPa for convenience, but the specified point RPb and the specified point RPa are the same specified point RP.
  • a line LX is defined and a speed limit intervention line ILb is defined.
  • the speed limit line ILb is parallel to the line LX and is defined at a position separated from the line LX by a line distance Hb.
  • the line distance Hb is desirably set so as not to impair the operator's operational feeling.
  • the work machine target speed determination unit 58 acquires the vertical distance Db that is the shortest distance between the bucket 8 and the line LX in the normal direction of the target construction landform CS.
  • the vertical distance Db is defined between the defined point RPb on the outer surface of the bucket 8 and the line LX.
  • the work implement target speed determination unit 58 obtains the speed of the work implement 1 that the bucket 8 should output at the specified point RPb of the bucket 8 according to the vertical distance Db as the work implement target speed Vt.
  • FIG. 18 is a diagram illustrating an example of the relationship between the vertical distance Db and the work implement target speed Vt of the specified point RPb of the bucket 8 according to the present embodiment.
  • the work implement target speed Vt is a speed that is uniformly determined according to the vertical distance Db.
  • the work implement target speed Vt is not set when the vertical distance Db is larger than the line distance Hb, and is set when the vertical distance Db is equal to or less than the line distance Hb.
  • the shorter the vertical distance Db the lower the work implement target speed Vt.
  • the work implement target speed Vt also becomes zero.
  • the vertical distance Db when the bucket 8 does not erode the target construction landform CS is a positive value.
  • the vertical distance Db when the bucket 8 is eroding the target construction landform CS is a negative value.
  • the non-erosion state where the bucket 8 does not erode the target construction landform CS means a state where the bucket 8 exists above the target construction landform CS, in other words, a state where the bucket 8 does not exceed the target construction landform CS.
  • the erosion state in which the bucket 8 is eroding the target construction landform CS refers to a state in which the bucket 8 exists below the target construction landform CS, in other words, a state in which the bucket 8 exists at a position exceeding the target construction landform CS.
  • the bucket 8 In the non-erosion state, the bucket 8 is in a state of being lifted from the target construction landform CS, and in the erosion state, the bucket 8 is a state in which the target construction landform CS is dug.
  • the vertical distance Db when the specified point RPb of the bucket 8 coincides with the target construction landform CS is zero.
  • the speed when the bucket 8 heads from the lower side to the upper side of the target construction landform CS is a positive value
  • the speed when the bucket 8 heads from the upper side to the lower side of the target construction landform CS is a negative value.
  • the speed when the bucket 8 is directed above the target construction landform CS is a positive value
  • the speed when the bucket 8 is below the target construction landform CS is a negative value.
  • the work machine target speed determination unit 58 determines the sign of the work machine target speed Vt of the bucket 8 so that the specified point RPb of the bucket 8 does not erode the target construction landform CS. Further, the work machine target speed determining unit 58 increases the absolute value of the work machine target speed Vt of the bucket 8 as the vertical distance Db increases, and the absolute value of the work machine target speed Vt of the bucket 8 decreases as the vertical distance Db decreases. The work implement target speed Vt of the bucket 8 is determined so as to decrease.
  • the work machine target speed determination unit 58 calculates the moving speed Va of the specified point RPb of the bucket 8 based on the operation amount of the operating device 30.
  • the moving speed Va of the bucket 8 based on the operation of the operating device 30 is calculated based on the detection values of the pressure sensors 34A and 34B.
  • the pilot pressure in the oil passages 33A and 33B changes according to the operation amount of the left work implement operation lever 30L.
  • the storage unit 62 stores correlation data indicating the pilot pressure corresponding to the lever operation and the movement amount of the spool / cylinder.
  • the correlation data is known data defined by a table or a relational expression.
  • the work machine target speed determination unit 58 calculates the speed of the arm cylinder with respect to the lever operation by the same method. After the cylinder speed of the arm cylinder 12 and the cylinder speed of the bucket cylinder 13 are calculated, the work implement target speed determination unit 58 determines the cylinder speed of the arm cylinder 12 and the cylinder speed of the bucket cylinder 13 as the moving speed Va at the specified point RP. Convert to
  • the work implement target speed determination unit 58 calculates a relative speed Vs of the specified point RPb with respect to the target construction landform CS from the calculated moving speed Va of the specified point RPb of the bucket 8.
  • the relative speed Vs is a relative speed between the bucket 8 and the target construction landform CS in the normal direction of the target construction landform CS.
  • the relative speed Vs is a moving speed when the specified point RPb moves toward the target construction landform CS.
  • the work implement target speed determining unit 58 calculates the relative speed Vs calculated from the pilot pressure that changes according to the operation amount of the work implement operation lever 30L, the work implement target speed Vt of the bucket 8 determined based on the vertical distance Db, and Based on the above, the target speed Vb of the specified point Rb by the rotation of the boom 6 in the work implement operation plane WP is determined so that the actual relative speed of the bucket 8 with respect to the target construction landform CS becomes the work implement target speed Vt. That is, when at least one of the arm cylinder 12 and the bucket cylinder 13 is operated by operating the work implement operation lever 30L, the relative speed Vs of the bucket 8 based on the operation of at least one of the arm cylinder 12 and the bucket cylinder 13 is set to the boom 6.
  • the target speed Vb of the boom 6 is determined so that the bucket 8 moves at the work implement target speed Vt.
  • embodiment which changes the target speed Vb of the boom 6 embodiment which changes the target speed of other working machines, such as the arm 7, may be sufficient.
  • the work implement control command determination unit 60 includes the boom axis AX1, the arm axis AX2, and the bucket axis AX3.
  • a command for driving the work machine 1 on the orthogonal work machine operation plane WP is output.
  • the work implement control command determining unit 60 is configured to drive the boom 6 on the work implement operating plane WP based on the target speed Vb of the boom 6 on the work implement operating plane WP determined by the work implement target speed determining unit 58. Outputs a command.
  • the work implement control command determination unit 60 commands the boom cylinder 11 that drives the boom 6 on the work implement operation plane WP based on the target speed Vb of the boom 6 determined by the work implement target speed determination unit 58. Is output.
  • the work implement control command determination unit 60 outputs a control signal to the control valve 39C.
  • the control valve 39C is controlled and the pilot pressure in the oil passage 33C is controlled, so that the movement of the spool of the flow control valve 25 is adjusted.
  • the cylinder speed of the boom cylinder 11 that drives the boom 6 is adjusted.
  • the moving speed of the boom 6 is adjusted by adjusting the cylinder speed of the boom 11.
  • the work implement control command determination unit 60 outputs a control signal to the control valve 39C so that the moving speed of the boom 6 becomes the target speed Vb.
  • the tilt target speed determination unit 59 determines the target tilt speed of the bucket 8 when tilt stop control is performed as the tilt target speed (tilt limit speed) U based on the distance between the bucket 8 and the target construction landform CS.
  • the tilt target speed determination unit 59 determines the target speed U of the bucket 8 in the tilt operation plane TP based on the operation distance Da that is the distance between the bucket 8 and the tilt target landform ST.
  • the control based on the operating distance Da will be described, but the control based on the vertical distance Db may be used.
  • the tilt target speed determination unit 59 determines the target speed U for the tilt rotation speed of the bucket 8 based on the operating distance Da.
  • the tilt target speed determining unit 59 limits the tilt rotation speed when the operating distance Da is equal to or less than the threshold line distance Ha.
  • the target speed U for the tilt rotation speed of the bucket 8 is appropriately referred to as a speed limit U.
  • FIG. 17 is a schematic diagram for explaining tilt stop control according to the present embodiment.
  • a tilt target landform ST is defined and a speed limit intervention line ILa is defined.
  • the speed limit line ILa is parallel to the tilt target landform ST and is defined at a position separated from the tilt target landform ST by the line distance Ha.
  • the line distance Ha is desirably set so as not to impair the operator's operational feeling.
  • the tilt control command determination unit 61 limits the tilt rotation speed of the bucket 8 when at least a part of the bucket 8 that rotates by tilting exceeds the speed limit intervention line ILa and the operating distance Da becomes equal to or less than the line distance Ha.
  • the tilt target speed determination unit 59 determines a speed limit U for the tilt rotation speed of the bucket 8 that exceeds the speed limit intervention line ILa.
  • a part of the bucket 8 exceeds the speed limit intervention line ILa, and the operating distance Da is smaller than the line distance Ha, so the tilt rotation speed is limited.
  • the tilt target speed determination unit 59 obtains an operation distance Da between the specified point RP and the tilt target landform ST in a direction parallel to the tilt operation plane TP. In addition, the tilt target speed determination unit 59 acquires a speed limit U corresponding to the operating distance Da. The tilt control command determination unit 61 limits the tilt rotation speed when it is determined that the operation distance Da is equal to or less than the line distance Ha. In the present embodiment, the operating distance Da is the distance between the blade edge 9 and the tilt target landform ST.
  • FIG. 19 is a diagram illustrating an example of the relationship between the operating distance Da and the speed limit U according to the present embodiment.
  • the speed limit U is a speed that is uniformly determined according to the operating distance Da.
  • the speed limit U is not set when the operating distance Da is larger than the line distance Ha, and is set when the operating distance Da is equal to or less than the line distance Ha.
  • the speed limit U becomes smaller, and when the operating distance Da becomes zero, the speed limit U also becomes zero.
  • the direction approaching the target construction landform CS is represented as a negative direction.
  • FIG. 20 is a schematic diagram illustrating an example of the operation of the bucket 8 according to the present embodiment.
  • the tilt target speed determining unit 59 moves the cutting edge 9 as the specified point RPa toward the target construction landform CS (tilt target landform ST) with the tilt rotation.
  • the moving speed Vr in the direction to be calculated is calculated.
  • the moving speed Vr is a moving speed of the specified point RPa in a plane parallel to the tilt operation plane TP.
  • the moving speed Vr is a speed component in the vertical direction of the tilt target landform ST.
  • the moving speed Vr is calculated for each of a plurality of specified points RP including the cutting edge 9 (specified point RPa).
  • the moving speed Vr is calculated based on a signal such as a voltage output from the tilt operation lever 30T.
  • a signal such as a voltage corresponding to the operation amount of the tilt operation lever 30T is output from the tilt operation lever 30T.
  • the tilt target speed determination unit 59 converts the movement speed Vr of the specified point RPa of the bucket 8 corresponding to the operation amount of the operation lever.
  • the tilt control command determination unit 61 outputs a command for tilt control of the bucket 8 around the tilt axis AX4 based on the distance between the bucket 8 and the target construction landform CS and the tilt rotation state of the bucket 8.
  • the tilt control command determination unit 61 performs speed limitation for limiting the moving speed Vr of the specified point RP with respect to the target construction landform CS to the speed limit U.
  • the tilt control command determination unit 61 outputs a control signal to the control valve 37 in order to suppress the moving speed Vr of the cutting edge 9 of the bucket 8.
  • the tilt control command determination unit 61 outputs a control signal to the control valve 37 so that the moving speed Vr of the cutting edge 9 of the bucket 8 becomes the speed limit U corresponding to the operating distance Da. Thereby, the moving speed of the blade edge 9 of the bucket 8 that rotates by tilting becomes slower as the blade edge 9 approaches the target construction landform CS (tilt target landform ST), and becomes zero when the blade edge 9 reaches the target construction landform CS. .
  • FIG. 21 is a flowchart illustrating an example of a control method of the excavator 100 according to the present embodiment.
  • an example in which an inclined target construction landform CS is constructed using a bucket 8 capable of tilt rotation will be described.
  • the target construction landform generation unit 54 generates the target construction landform CS based on the line LX and the line LY that are target construction data supplied from the target construction data generation device 70 and stored in the storage unit 62 (step S10). .
  • the specified point position data calculation unit 53A stores the work implement angle data acquired by the work implement angle data acquisition unit 52, the work implement data stored in the storage unit 62, and the target construction landform CS in the bucket 8.
  • the position data of each set specified point RP is calculated (step S20).
  • the work implement operation plane calculation unit 55 calculates a work implement operation plane WP, which is an operation plane in which the bucket 13 is moved by at least one operation of the boom cylinder 11, the arm cylinder 12, and the bucket cylinder 13 (step S30).
  • the work machine target speed determination unit 58 calculates the vertical distance Db between the specified point RP (RPb) and the target construction landform CS (step S40).
  • the target speed Vb is determined based on the vertical distance Db.
  • the work implement target speed determining unit 58 determines the target speed Vb of the boom 6 for setting the moving speed of the bucket 8 to the work implement target speed Vt (step S50).
  • the work implement control command determination unit 60 outputs a control signal to the control valve 39C to control the cylinder speed of the boom cylinder 11 in order to operate the boom 6 at the target speed Vb (step S60). Thereby, leveling assist control is performed.
  • the tilt motion plane calculation unit 56 calculates a tilt motion plane TP that passes through the blade edge 9 that is the specified point RPa and is orthogonal to the tilt axis AX4 (step S70).
  • the tilt target landform calculator 57 calculates the tilt target landform ST where the target construction landform CS and the tilt operation plane TP intersect (step S80).
  • the tilt target speed determination unit 59 calculates the operating distance Da between the blade edge 9 and the tilt target landform ST (step S90).
  • the speed limit U is determined based on the operating distance Da.
  • the tilt target speed determining unit 59 determines a speed limit U corresponding to the operating distance Da (step S100).
  • the tilt control command determination unit 61 controls the control valve based on the moving speed Vr of the blade edge 9 of the bucket 8 calculated from the operation amount of the tilt operation lever 30T and the speed limit U determined by the tilt target speed determination unit 59.
  • a control signal for 37 is calculated.
  • the tilt control command determination unit 61 calculates a control signal for setting the moving speed Vr to the speed limit U and outputs the control signal to the control valve 37.
  • the control valve 37 controls the pilot pressure based on the control signal output from the tilt control command determination unit 61. Thereby, the moving speed Vr of the blade edge
  • a command for driving the work implement 1 is output in the work implement operation plane WP orthogonal to at least one of the boom axis AX1, the arm axis AX2, and the bucket axis AX3.
  • the ground leveling assist control executed in this way and the tilt stop control executed by outputting a command for rotating the bucket 8 around the tilt axis AX4 are performed in combination.
  • the operator performs the tilting operation to tilt and rotate the bucket excavation surface against the target construction terrain CS, and performs the following procedure while excavating the arm and bucket.
  • the intervention control of the boom 6 based on the leveling assist control is performed based on the operation of the arm 7 and the bucket 8, and FIG. ), Tilt stop control based on the operation of the bucket 8 starts gradually.
  • the bucket 8 reaches the target construction landform CS as shown in FIG.
  • the cutting edge 9 (line segment) of the bucket 8 that is in contact with the target construction landform CS during excavation of the bucket 8 and the back surface of the bucket 8 are substantially parallel to the target construction landform CS (tilt target landform ST in tilt stop control).
  • the target construction landform CS and the excavation area are kept parallel by tilt stop control.
  • boom intervention control that does not consider the tilt operation is performed, and excavation along the target construction landform CS (line LX in leveling assist control) can be performed.
  • the bucket excavation area does not rise from the target construction landform CS while maintaining the parallel of the target construction landform CS and the excavation area.
  • the leveling assist control for controlling the boom cylinder 11 is not only applied to the tilt type bucket 8, but the tilt cylinder 14 is controlled based on the distance between the bucket 8 and the tilt target land ST. Stop control is used together with leveling assist control.
  • the tilt angle of the tilt type bucket 8 can be set to an optimum value, and the cutting edge 9 of the bucket 8 and the target construction landform CS can be made parallel, and the target design landform CS (tilt target landform ST) is the bucket 8.
  • the blade edge 9 of the bucket 8 can be moved along the target construction landform CS (line LX) without being eroded.
  • FIG. 23 is a schematic diagram for explaining the operation of the bucket 8 according to the present embodiment.
  • FIG. 23 shows an example in which the leveling assist control is performed and the tilt stop control is not performed.
  • the speed limit U is not calculated.
  • the moving speed of the bucket 8 based on the operation of the tilt operation lever 30T by the operator is Vr and the speed component of the moving speed Vr in the normal direction of the target construction landform CS is Vra
  • the relative of the bucket 8 to the target construction landform CS The speed is the sum of the moving speed Vs of the bucket 8 based on the operation of the work machine operation lever 30L by the operator and the moving speed Vra of the bucket 8 based on the operation of the tilt operation lever 30T by the operator.
  • the work implement target speed determination unit 58 calculates the target speed Vb of the boom 6 so that the sum of the movement speed Vs and the movement speed Vra is canceled out. That is, even when the bucket 8 is tilted, the tilt cylinder 14 is not controlled, only the boom cylinder 11 is controlled, and the boom 6 is excessively raised. As a result, it becomes difficult to move the cutting edge 9 of the bucket 8 along the target construction landform CS which inclines.
  • the tilt cylinder 14 is controlled based on the moving speed Vr of the bucket 8 that rotates by tilt. Therefore, the boom 6 is prevented from being raised excessively, and the target construction landform CS is constructed with high accuracy.
  • the tilt operation plane TP and the tilt target landform ST are defined, and the tilt target speed determination unit 59 is based on the operation distance Da between the bucket 8 and the tilt target landform ST on the tilt operation plane ST.
  • a target speed U of the bucket 8 is determined.
  • the tilt control command determination unit 61 controls the tilt cylinder 14 based on the target speed U determined by the tilt target speed determination unit 59. Therefore, it is possible to construct the blade 8 of the bucket 8 that rotates by tilting with the target construction landform CS being accurately aligned.
  • the leveling assist control for controlling the movement of the work implement 1 on the work implement operation plane WP and the tilt stop control for controlling the tilt rotation of the bucket 3 on the tilt operation plane TP are performed independently. Is done. That is, in the leveling assist control, the target speed Vb of the boom 6 in the work implement operation plane WP is determined based on the vertical distance Db in the work implement operation plane WP, and the boom cylinder 11 is moved so that the boom 6 moves at the target speed Vb. Is controlled. That is, the relative speed between the bucket 8 and the target construction landform CS based on the tilt rotation of the bucket 8 is not reflected in the leveling assist control.
  • the target speed U of the bucket 8 on the tilt operation plane TP is determined based on the operation distance Da on the tilt operation plane TP, and the tilt cylinder 14 is tilted so that the bucket 8 tilts at the target speed U. Be controlled. That is, the relative speed between the bucket 8 and the target construction landform CS based on the movement of the boom 6 is not reflected in the tilt stop control. As a result, it is possible to construct the blade 8 of the bucket 8 that tilts and rotates while keeping the blade edge 9 along the target construction landform CS with high accuracy.
  • FIG. 24 is a schematic diagram illustrating an example of a control method of the excavator 100 according to the present embodiment. Similar to the above-described embodiment, the tilt target speed determination unit 59 calculates the target speed U of the bucket 8 in the tilt operation plane TP.
  • the tilt target speed determination unit 59 calculates the target speed Ua of the bucket 8 in the normal direction of the line LX from the calculated target speed U. That is, the tilt target speed determination unit 59 calculates the speed component Ua of the target speed U in the normal direction of the line LX.
  • the work machine control command determination unit 60 calculates the target speed Ua of the bucket 8 in the normal direction of the line LX calculated by the tilt target speed determination unit 59 and the line LX calculated by the work machine target speed determination unit 58. A command is output based on the target speed Vs of the bucket 8 in the normal direction.
  • the work implement control command determination unit 60 outputs a control signal to the control valve 39C to control the cylinder speed of the boom cylinder 11 so that the boom 6 moves.
  • the target speed Ua for the tilt rotation of the bucket 8 is reflected in the leveling assist control. If the speed at which the bucket 8 approaches the target construction landform CS based on the tilt rotation is not reflected at all in the leveling assist control, the bucket 8 may slightly dig the target construction landform CS. According to this embodiment, the blade edge 9 of the bucket 8 can be moved with higher accuracy along the target construction landform CS.
  • the boom cylinder 11 is controlled in the leveling assist control.
  • the arm cylinder 12 that operates the work implement 1 on the work implement operation plane WP may be controlled, or the boom cylinder 13 may be controlled.
  • control of the tilt cylinder 14 that rotates the bucket 8 by tilting is performed based on the operating distance Da.
  • Control of the tilt cylinder 14 that tilts and rotates the bucket 8 may be performed based on the vertical distance Db.
  • the bucket stop control for stopping the tilt rotation of the bucket 8 at the target construction landform CS is performed. Similar to the leveling assist control by the boom cylinder 11, the tilt leveling assist control in which the tilt bucket 14 is controlled so that the cutting edge 9 of the bucket 8 follows the target construction landform CS may be performed.
  • Tilt stop control may be performed so that the tilt rotation of the bucket 8 stops at a specified position different from the tilt target landform ST, which has a specified positional relationship with respect to the tilt target landform ST.
  • the construction machine 100 is a hydraulic excavator.
  • the components described in the above-described embodiments can be applied to a construction machine having a work machine other than the hydraulic excavator.
  • the work machine 1 in addition to the bucket shaft AX3 and the tilt shaft AX4, the work machine 1 may be provided with a rotation shaft that rotatably supports the bucket 8.
  • the upper swing body 2 may be rotated by hydraulic pressure, or may be rotated by power generated by the electric actuator. Further, the work implement 1 may be operated not by the hydraulic cylinder 10 but by the power generated by the electric actuator.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Operation Control Of Excavators (AREA)
PCT/JP2016/066078 2016-05-31 2016-05-31 建設機械の制御システム、建設機械、及び建設機械の制御方法 WO2016186219A1 (ja)

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KR1020177001405A KR101839467B1 (ko) 2016-05-31 2016-05-31 건설 기계의 제어 시스템, 건설 기계, 및 건설 기계의 제어 방법
JP2016544684A JP6099834B1 (ja) 2016-05-31 2016-05-31 建設機械の制御システム、建設機械、及び建設機械の制御方法
DE112016000072.3T DE112016000072B4 (de) 2016-05-31 2016-05-31 Baumaschinensteuersystem, baumaschine und baumaschinensteuerverfahren
CN201680001091.8A CN106460362B (zh) 2016-05-31 2016-05-31 工程机械的控制***、工程机械、以及工程机械的控制方法
US15/326,700 US10017913B2 (en) 2016-05-31 2016-05-31 Construction machine control system, construction machine, and construction machine control method
PCT/JP2016/066078 WO2016186219A1 (ja) 2016-05-31 2016-05-31 建設機械の制御システム、建設機械、及び建設機械の制御方法

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CN106460362B (zh) 2019-11-29
DE112016000072B4 (de) 2022-01-20
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CN106460362A (zh) 2017-02-22
JP6099834B1 (ja) 2017-03-22
US20170342679A1 (en) 2017-11-30
US10017913B2 (en) 2018-07-10
DE112016000072T5 (de) 2017-03-30
KR101839467B1 (ko) 2018-03-16

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